# US 11,299,137 B2 · Lateral control for vehicle wireless charging guidance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,137 B2 - Document ID: US11299137B2 - Status: Granted - Kind: B2 - Application number: 16/566,122 - Filed: 2019-09-10 - Published: 2021-03-11 - Granted: 2022-04-12 - Earliest claimed: 2019-09-10 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Nikolai K Moshchuk; David Andres Pérez Chaparro; Kausalya Singuru - Web page: https://patentgrep.com/patent/US11299137B2 ## CPC - B60W 10/20: including control of steering systems - B60W 30/12: Lane keeping - B60W 50/045: {Monitoring control system parameters} - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - G05D 1/0229: {in combination with fixed guiding means} - B60W 2050/046: {involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]} - B60W 2510/20: Steering systems - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors - Y02T 90/12: Electric charging stations - Y02T 90/14: Plug-in electric vehicles - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A method for providing low speed lateral steering control for an autonomously driven or semi-autonomously driven vehicle includes obtaining a desired final vehicle position relative to a current vehicle position, and calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position. The method further includes calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, a control signal based on the calculated road wheel command value; and providing the control signal to a steering controller. ## Claims ### Claim 1 A method for providing low speed lateral steering control for an autonomously driven or semi-autonomously driven vehicle, the method comprising: obtaining a desired final vehicle position relative to a current vehicle position; calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position, wherein the target vehicle position is different than the desired final vehicle position; calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, a control signal based on the calculated road wheel angle command value; providing the control signal to a steering controller; and sending a control input command to an actuator configured to steer a road wheel on the vehicle, wherein the control signal is determined without explicit determination of a path from the current vehicle position to the desired final vehicle position. ### Claim 2 (depends on 1) The method of claim 1, wherein the desired final vehicle position includes longitudinal position, lateral position, and heading. ### Claim 3 (depends on 2) The method of claim 2, wherein the target vehicle position is a point along a line that passes through the desired final vehicle longitudinal position and the desired final vehicle lateral position at an angle represented by the desired final vehicle heading. ### Claim 4 (depends on 3) The method of claim 3, wherein the target vehicle position is at a preview distance from the current vehicle position. ### Claim 5 (depends on 1) The method of claim 1, wherein the desired final vehicle position is obtained from data received from a camera. ### Claim 6 (depends on 1) The method of claim 1, wherein the desired final vehicle position is obtained from data received from a GPS system. ### Claim 7 (depends on 1) The method of claim 1, wherein the desired final vehicle position is a location of a ground-mounted wireless charging pad. ### Claim 8 (depends on 1) The method of claim 1, wherein the steps of: obtaining the desired final vehicle position relative to the current vehicle position; calculating, by the one or more data processors, the target vehicle position based on the current vehicle position and the desired final vehicle position; calculating, by the one or more data processors, the road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, the control signal based on the calculated road wheel angle command value; providing the control signal to the steering controller; and sending a control input command to an actuator configured to steer a road wheel on the vehicle; are repeated at a predetermined update rate. ### Claim 9 An automotive vehicle, comprising: a steering system; and a controller electrically connected to the steering system; the controller configured to: obtain a desired final vehicle position relative to a current vehicle position; calculate, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position, wherein the target vehicle position is different than the desired final vehicle position; calculate by the one or more data processors, a road wheel angle command value based on the target vehicle position; determine, by the one or more data processors, a control signal based on the calculated road wheel angle command value; and provide the control signal to an actuator in the steering system, the actuator effective to steer a road wheel on the vehicle, wherein the control signal is determined without explicit determination of a path from the current vehicle position to the desired final vehicle position. ### Claim 10 (depends on 9) The automotive vehicle of claim 9, wherein the desired final vehicle position includes longitudinal position, lateral position, and heading. ### Claim 11 (depends on 10) The automotive vehicle of claim 10, wherein the target vehicle position is a point along a line that passes through the desired final vehicle longitudinal position and the desired final vehicle lateral position at an angle represented by the desired final vehicle heading. ### Claim 12 (depends on 11) The automotive vehicle of claim 11, wherein the target vehicle position is at a preview distance from the current vehicle position. ### Claim 13 (depends on 9) The automotive vehicle of claim 9, wherein the desired final vehicle position is obtained from data received from a camera. ### Claim 14 (depends on 9) The automotive vehicle of claim 9, wherein the desired final vehicle position is obtained from data received from a GPS system. ### Claim 15 (depends on 9) The automotive vehicle of claim 9, wherein the desired final vehicle position is a location of a ground-mounted wireless charging pad. ### Claim 16 A controller for use in an automotive vehicle having a steering controller, the controller comprising a processor and a non-transitory computer-readable medium containing instructions that, when executed, perform the method comprising the steps of: obtaining a desired final vehicle position relative to a current vehicle position; calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position, wherein the target vehicle position is different than the desired final vehicle position; calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, a control signal based on the calculated road wheel angle command value; providing the control signal to the vehicle steering controller; and sending a control input command to an actuator configured to steer a road wheel on the vehicle, wherein the control signal is determined without explicit determination of a path from the current vehicle position to the desired final vehicle position.